Manual Mode 1 (Simple Manual Adjustment); Adjustment By Manual Mode 1 - Mitsubishi Electric EZMOTION MR-E Super MR-E-10A-QW003 Instruction Manual

7. GENERAL GAIN ADJUSTMENT

7.3 Manual mode 1 (simple manual adjustment)

If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three
parameters.
7.3.1 Operation of manual mode 1
In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and speed
integral compensation (VIC) automatically sets the other gains to the optimum values according to these gains.
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Therefore, you can adjust the model adaptive control system in the same image as the general PI control
system (position gain, speed gain, speed integral time constant). Here, the position gain corresponds to PG1,
the speed gain to VG2 and the speed integral time constant to VIC. When making gain adjustment in this
mode, set the load inertia moment ratio (parameter No.34) correctly.

7.3.2 Adjustment by manual mode 1

(1) For speed control
(a) Parameters
The following parameters are used for gain adjustment.
Parameter No.
34
37
38
(b) Adjustment procedure
Step
Set an estimated value to the ratio of load inertia moment to servo motor
1
inertia moment (parameter No.34).
Increase the speed control gain 2 (parameter No.37) within the vibration-
2
and unusual noise-free range, and return slightly if vibration takes place.
Decrease the speed integral compensation (parameter No.38) within the
3
vibration-free range, and return slightly if vibration takes place.
If the gains cannot be increased due to mechanical system resonance or
the like and the desired response cannot be achieved, response may be
4 increased by suppressing resonance with adaptive vibration suppression
control or machine resonance suppression filter and then executing steps 2
and 3.
While checking the settling characteristic and rotational status, fine-adjust
5
each gain.
GD2
User setting
PG1
VG2
Automatic setting
VIC
POINT
If machine resonance occurs, adaptive vibration suppression control (parameter
No.60) or machine resonance suppression filter (parameter No.58 59) may be
used to suppress machine resonance. (Refer to section 8.2, 8.3.)
Abbreviation
GD2 Ratio of load inertia moment to servo motor inertia moment
VG2 Speed control gain 2
VIC Speed integral compensation
Operation
7 - 7
PG2
VG1
Name
Description
Increase the speed control gain.
Decrease the time constant of the speed
integral compensation.
Suppression of machine resonance.
Refer to section 8.2, 8.3.
Fine adjustment